سال انتشار: ۱۳۹۰

محل انتشار: نوزدهمین کنفرانس مهندسی برق ایران

تعداد صفحات: ۶

نویسنده(ها):

S. Ali A Moosavian – Department of Mechanical Engineering, K. N. Toosi Univ. of Technology, Tehran, Iran,
Ali A. Nazari – Mechatronics Research Laboratory (MRL), Department of Mechatronics Engineering, Islamic Azad
Ayyub Hasani – Department of Mechanical Engineering, Islamic Azad University, South Tehran Branch, Tehran, Iran

چکیده:

In this study, kinematics design and workspace analysis of a novel spatial parallel mechanism is elaborated. The proposed mechanism is to be exploited in a hybrid serialparallel mobile robot to fulfill stable motion of the robotic system when handling heavy objects by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to obtain an appropriate maneuverability and fulfill the tipover stability of a hybrid serial-parallel mobile robotic system after grasping heavy objects. The proposed mechanism is made of three legs while each leg has one active degree of freedom (DOF) so that themechanism contains 3-DOF. In order to investigate this novel parallel mechanism, inverse and forward kinematics model is developed and verified using two maneuvers. Next, the workspace of the manipulator is demonstrated symbolically, besides a numerical analysis will be studied. Finally, the advantages of exploiting such a parallel manipulator are discussed in order to be used in a hybrid serial-parallel mobile robotic system